The quaternions are members of a noncommutative division algebra first invented by William Rowan Hamilton. The idea for quaternions occurred to him while he was walking along the Royal Canal on his way to a meeting of the Irish Academy, and Hamilton was so pleased with his discovery that he scratched the fundamental formula of quaternion algebra,
 |
(1)
|
into the stone of the Brougham bridge (Mishchenko and Solovyov 2000). The set of quaternions is denoted
,
, or
, and the quaternions are a single example of a more general class of hypercomplex numbers discovered by Hamilton. While the quaternions are not commutative, they are associative, and they form a group known as the quaternion group.
By analogy with the complex numbers being representable as a sum of real and imaginary parts,
, a quaternion can also be written as a linear combination
 |
(2)
|
The quaternion
is implemented as Quaternion[a, b, c, d] in the Mathematica package Quaternions`) where however
,
,
, and
must be explicit real numbers. Note also that NonCommutativeMultiply (i.e., **) must be used for multiplication of these objects rather than usual multiplication (i.e., *).
A variety of fractals can be explored in the space of quaternions. For example, fixing
gives the complex plane, allowing the Mandelbrot set. By fixing
or
at different values, three-dimensional quaternionic fractals have been produced (Sandin et al. , Meyer 2002, Holdaway 2006).
The quaternions can be represented using complex
matrices
![H=[z w; -w^_ z^_]=[a+ib c+id; -c+id a-ib],](http://mathworld.wolfram.com/images/equations/Quaternion/NumberedEquation3.gif) |
(3)
|
where
and
are complex numbers,
,
,
, and
are real, and
is the complex conjugate of
.
Quaternions can also be represented using the complex
matrices
(Arfken 1985, p. 185). Note that here
is used to denote the identity matrix, not
. The matrices are closely related to the Pauli spin matrices
,
,
, combined with the identity matrix.
From the above definitions, it follows that
Therefore
,
, and
are three essentially different solutions of the matrix equation
 |
(11)
|
which could be considered the square roots of the negative identity matrix. A linear combination of basis quaternions with integer coefficients is sometimes called a Hamiltonian integer.
In
, the basis of the quaternions can be given by
The quaternions satisfy the following identities, sometimes known as Hamilton's rules,
They have the following multiplication table.
The quaternions
,
,
, and
form a non-Abelian group of order eight (with multiplication as the group operation).
The quaternions can be written in the form
 |
(20)
|
The quaternion conjugate is given by
 |
(21)
|
The sum of two quaternions is then
 |
(22)
|
and the product of two quaternions is
The quaternion norm is therefore defined by
 |
(24)
|
In this notation, the quaternions are closely related to four-vectors.
Quaternions can be interpreted as a scalar plus a vector by writing
 |
(25)
|
where
. In this notation, quaternion multiplication has the particularly simple form
Division is uniquely defined (except by zero), so quaternions form a division algebra. The inverse of a quaternion is given by
 |
(28)
|
and the norm is multiplicative
 |
(29)
|
In fact, the product of two quaternion norms immediately gives the Euler four-square identity.
A rotation about the unit vector
by an angle
can be computed using the quaternion
 |
(30)
|
(Arvo 1994, Hearn and Baker 1996). The components of this quaternion are called Euler parameters. After rotation, a point
is then given by
 |
(31)
|
since
. A concatenation of two rotations, first
and then
, can be computed using the identity
 |
(32)
|
(Goldstein 1980).